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Scope of document

The purpose of this manual is to describe how to mount/repair the tendons of iCub.

The body parts

Please click on any of the iCub body parts below to get instructions on how to re-cable them.

Neck

Shoulder and Elbow

Lower Arm

Waist, Legs and Ankle

iCub mechanical versions

Here is a table showing the visual differences of iCub from version 1 to 2.7.

iCub V1 iCub V2
iCub V2.5 iCub V2.5 - Backpack

Cabling Differences

Part activated by tendons iCub V1 iCub V2 iCub V2.5 iCub V2.5 & following (w/ backpack)
NECK NO YES YES YES
SHOULDER YES - V1 YES - V2 YES - V2 YES - V2
ELBOW YES YES YES YES
WAIST YES YES YES YES
LOWER ARM (Forearm + Hand) YES - V1 YES - V1 YES - V2 YES - V2
HIP YES YES YES YES
ANKLE YES YES NO NO